Updates to City10000 Example #2010
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varunagrawal
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dellaert
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Jan 29, 2025
| @@ -222,6 +222,8 @@ namespace gtsam { | |||
| // sum out frontals, this is the factor on the separator | |||
| gttic(sum); | |||
| DiscreteFactor::shared_ptr sum = product->sum(frontalKeys); | |||
| // Normalize/scale to prevent underflow. | |||
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Ok, this is now wrong again, right?
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Yes, give me a minute.
varunagrawal
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Jan 29, 2025
examples/Hybrid_City10000.cpp
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| auto f0 = std::make_shared<BetweenFactor<Pose2>>( | ||
| X(key_s), X(key_t), measurement, | ||
| noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10)); |
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@dellaert this was the change. I updated it from 100 to 10.
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Improved script for inference on the City10000 dataset.